EP0088501A1 - Soudeuse ou découpeuse à laser pour tubes - Google Patents

Soudeuse ou découpeuse à laser pour tubes Download PDF

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Publication number
EP0088501A1
EP0088501A1 EP83300423A EP83300423A EP0088501A1 EP 0088501 A1 EP0088501 A1 EP 0088501A1 EP 83300423 A EP83300423 A EP 83300423A EP 83300423 A EP83300423 A EP 83300423A EP 0088501 A1 EP0088501 A1 EP 0088501A1
Authority
EP
European Patent Office
Prior art keywords
laser beam
elbow joint
optical
focusing head
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP83300423A
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German (de)
English (en)
Other versions
EP0088501B1 (fr
Inventor
Brooke Armitage Ward
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
UK Atomic Energy Authority
Original Assignee
UK Atomic Energy Authority
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by UK Atomic Energy Authority filed Critical UK Atomic Energy Authority
Publication of EP0088501A1 publication Critical patent/EP0088501A1/fr
Application granted granted Critical
Publication of EP0088501B1 publication Critical patent/EP0088501B1/fr
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam
    • B23K26/103—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam the laser beam rotating around the fixed workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B23K26/24—Seam welding
    • B23K26/28—Seam welding of curved planar seams
    • B23K26/282—Seam welding of curved planar seams of tube sections

Definitions

  • the present invention relates to a device for carrying out processing operations on a workpiece by means of a laser in circumstances when it is not practicable to rotate the workpiece to present different portions of its surface to the laser beam to be operated upon.
  • a laser processing apparatus comprising, a focusing head which is mounted on a carriage which is adapted to follow a closed path around a position at which a stationary workpiece to be processed by the laser beam may be placed whilst maintaining the laser beam at normal incidence to the workpiece and bringing it to a focus at the surface of the workpiece, a flexible laser beam guide connecting the focusing head to a stationary laser beam guide, the flexible laser beam guide including at least three optical elbow joints each having an angular movement of more than two hundred and seventy degrees and means for reflecting the laser beam from one optical elbow joint to another and thence to the focusing head, a first of the optical elbow joints being associated with the focusing head, a second of the optical elbow joints being associated with the fixed laser beam guide and the third optical elbow joint being intermediate the first and second optical elbow joints and separated from them by distances such that the focusing head can traverse more than a full circuit around the workpiece without the flexible beam guide coming into contact with the workpiece.
  • the second optical elbow joint is provided with a rotational capability about an axis which is coincident with that of the portion of the fixed laser beam guide to which it is attached, and the focusing head carriage is constrained to move on a track which is mounted on a single axis gimbal frame which is pivoted about the same axis thus enabling the laser beam to act on a workpiece which has its axis at any orientation in a plane at right angles to the gimbal axis.
  • an orbital laser welder/cutter consists of a focusing head 1 which is mounted on a carriage 2 which runs on a track 3 which surrounds a hole 4 in a base plate 5.
  • the base plate 5 is in turn mounted on trunnions 6 which form part of a supporting structure 7.
  • the supporting structure 7 acts as a single axis gimbal frame.
  • the focusing head 1 is fixed to the carriage 2 in a position such that a radial alignment of the focusing head 1 is maintained as the carriage 2 moves around the track 3.
  • a flexible laser beam guide, shown generally by the numeral 8 connects the focusing head 1 to a fixed laser beam guide 9.
  • the fixed portion of the laser beam guide 9 passes through the centre of one of the trunnions 6.
  • the flexible laser beam guide 8 is provided with an articulated outer casing 10.
  • the flexible laser beam guide 8 includes three elbow joints 11, 12 and 13.
  • the elbow joint 11 conveys light to the focusing head 1, the elbow joint 12 connects the flexible laser beam guide 8 to the fixed laser beam guide 9, and the elbow joint 13 is intermediate the other two elbow joints.
  • Corresponding articulation is provided in the outer casing 10.
  • the elbow joints 11, 12 and 13 will be described in more detail later.
  • Each elbow joint is universal in its action with an angular movement of more than 270°.
  • the axis of rotation of the elbow joint 11 perpendicular to the plane of the base plate 5 should move around a circle of radius 70 units centred on the hole 4 in the base plate 5, the corresponding axis of rotation of the elbow joint 12 should be 110 units from the centre of the hole 4 in the base plate 5, and the separations between the corresponding axes of rotation of the elbow joints 11 and 13 and 12 and 13, respectively, should be 132.9 and 92.9 units.
  • FIG. 2 The action of a flexible beam guide 8 with such dimensions is illustrated in Figure 2. As the action of the flexible laser beam guide 8 is symmetrical, only half a complete circuit is shown. The motion starts from the position labelled I, proceeds to position II, and thence to position III. The remaining part of the motion is a mirror image of that shown. The starting position is such that the optic axis 21 of the focusing head 1 rotates through some 370° in a complete cycle of operation, so ensuring the complete joining or severance of sections of piping 20.
  • Figure 3 shows the construction of one form of elbow joint.
  • an input mirror 31 and an output mirror 32 are mounted in input and output parts 33 and 34, respectively, of the elbow joint.
  • the input and output parts 33 and 34 of the elbow joint are joined by a short intermediate section 35 which incorporates a journal bearing 36 such that the input and output parts 33 and 34 of the elbow joint can rotate relative to each other about the longitudinal axis 35' of the intermediate section 35 of the elbow joint.
  • the input part 33 of the elbow joint is joined to its associated section 37 of the laser beam guide by means of a joint which includes another journal bearing 38.
  • the bearing 38 enables the input part 33 of the elbow joint to rotate about the longitudinal axis 37' of the section 37 of the laser beam guide.
  • the output part 34 of the elbow joint is joined rigidly to its associated section 39 of the laser beam guide.
  • the bearings 36 and 38 provide for a universal action of the elbow joint.
  • the mirrors 31 and 32 are so positioned that when the longitudinal axes 37 1 , 35' and 39' of the sections 37, 35 and 39 of the laser beam guide are co-planar, the mirrors 31 and 32 are parallel and at an angle of 45° to the longitudinal axes 37 1 , 35' and 39' of the sections 37, 35 and 39 of the laser beam guide. Thus these axes form the optic axis of the optical system formed by the mirrors 31 and 32.
  • a beam 40 of laser radiation entering the elbow joint along the axis 37 1 of the section 37 of the laser beam guide will leave the elbow joint along the axis 39'. of the section 39 of the laser beam guide whatever the relative positions of the input and output parts 33 and 34 of the elbow joint.
  • Figure 4 shows a form of elbow joint in which these conditions can be relaxed.
  • the general principles of construction are the same as those of the elbow joint which has been described already so the construction of the elbow joint will not be described in detail again, and those components which are similar to those in the elbow joint already described are given the same reference numbers.
  • the two forms of the elbow joint differ in that instead of the mirrors 31 and 32 being accurately pre-aligned, one of them, in the illustration the output mirror 32 although it can be either of them, is mounted so that it can be moved about two perpendicular axes, and there is provided a servo mechanism 41 which maintains the alignment of the mirrors required to ensure that the laser beam 40 leaving the elbow joint does so along the axis 39' of the section 39 of the laser beam guide whatever the relative positions of the input and output parts 33 and 34 of the elbow joint.
  • the servo mechanism 41 any convenient form of laser beam position sensor can be used such as a diaphragm 42 divided into quadrants 43 each of which has a temperature sensor 44 associated with it.
  • one of the sections of the flexible laser beam guide 8 can be provided with a telescopic joint.
  • the required orientation of the operating laser beam in relation to the piping 20 can be maintained whatever the orientation of the axis of the piping 20 in a plane perpendicular to the axis of rotation of the base plate 5.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)
EP83300423A 1982-02-12 1983-01-27 Soudeuse ou découpeuse à laser pour tubes Expired EP0088501B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8204249 1982-02-12
GB8204249 1982-02-12

Publications (2)

Publication Number Publication Date
EP0088501A1 true EP0088501A1 (fr) 1983-09-14
EP0088501B1 EP0088501B1 (fr) 1986-04-16

Family

ID=10528311

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83300423A Expired EP0088501B1 (fr) 1982-02-12 1983-01-27 Soudeuse ou découpeuse à laser pour tubes

Country Status (4)

Country Link
US (1) US4533814A (fr)
EP (1) EP0088501B1 (fr)
JP (1) JPS58148089A (fr)
DE (1) DE3362994D1 (fr)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2143649A (en) * 1983-06-29 1985-02-13 Fairey Eng Optical apparatus for laser welding pipes
DE3503401A1 (de) * 1985-02-01 1986-08-07 Walter 6000 Frankfurt Röder Fuehrungsvorrichtung fuer einen laserstrahl, vorzugsweise zur dreidimensionalen werkstueckbearbeitung
GB2172122A (en) * 1985-03-06 1986-09-10 Ernest Valdur Tomlinson Rotatable reflectors for directing a beam of light
US4843529A (en) * 1986-09-19 1989-06-27 Lehigh University Stage lighting apparatus
FR2704166A1 (fr) * 1993-04-20 1994-10-28 Itp Procédé et dispositif pour effectuer le soudage de tronçons de tube à l'aide de rayons laser.
WO1998053950A1 (fr) * 1997-05-30 1998-12-03 Applications Des Techniques Laser Atol Dispositif transportable et ouvert pour decouper ou souder des tronçons de tubes d'une canalisation sur terre ou en mer en utilisant un generateur laser integrant une tete laser auto-adaptative
DE19745929C1 (de) * 1997-10-17 1999-07-29 Thyssenkrupp Stahl Ag Schweißeinrichtung für zwei über eine in sich geschlossene Schweißnaht miteinander zu verbindende Werkstücke
GB2345016A (en) * 1998-12-24 2000-06-28 Saipem Spa Method and apparatus for welding pipes together
US7114881B2 (en) 2000-10-24 2006-10-03 Saipem S.P.A. Method and apparatus for welding pipes together
WO2008014740A1 (fr) * 2006-08-01 2008-02-07 Eroform Edelstahl Gmbh Suspension pour un appareil de soudure laser
ITMO20130333A1 (it) * 2013-12-06 2015-06-07 Oto S P A Macchina per il taglio orbitale di tubi
CN106271072A (zh) * 2016-10-13 2017-01-04 上海嘉强自动化技术有限公司 一种手持式激光焊接装置
DE102018000322A1 (de) 2018-01-17 2019-07-18 Detlef Görgens 5 Achs - Fräskopf
CN111526966A (zh) * 2017-12-29 2020-08-11 可利雷斯股份有限公司 激光处理装置及方法
CN112975167A (zh) * 2021-01-28 2021-06-18 上海工程技术大学 一种提高陶瓷表面孔形貌质量的激光加工方法

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US4626999A (en) * 1984-04-18 1986-12-02 Cincinnati Milacron Inc. Apparatus for controlled manipulation of laser focus point
US4667081A (en) * 1985-02-04 1987-05-19 Spectra-Physics, Inc. Apparatus for changing the direction of a light beam passing through an articulated joint
US4752669A (en) * 1986-12-16 1988-06-21 Prc Corporation Method and apparatus for laser processing of materials
US4798931A (en) * 1987-07-17 1989-01-17 Laser Applications, Inc. Simultaneously cutting and welding sheet metal using laser energy
US4859826A (en) * 1987-07-17 1989-08-22 Laser Applications, Inc. Simultaneously cutting and welding sheet metal using laser energy
US4917083A (en) * 1988-03-04 1990-04-17 Heraeus Lasersonics, Inc. Delivery arrangement for a laser medical system
GB8813315D0 (en) * 1988-06-06 1988-07-13 Serrano J P Beam delivery system
US5422456A (en) * 1993-08-31 1995-06-06 Dahm; Jonathan S. Orbital head laser welder
US5500503A (en) * 1994-08-04 1996-03-19 Midwest Research Institute Simultaneous laser cutting and welding of metal foil to edge of a plate
US5502292A (en) * 1994-08-04 1996-03-26 Midwest Research Institute Method for laser welding ultra-thin metal foils
US5484981A (en) * 1994-08-24 1996-01-16 Honda Giken Kogyo Kabushiki Kaisha Method of cutting a hollow metallic material
US5593605A (en) * 1994-10-11 1997-01-14 Crc-Evans Pipeline International, Inc. Internal laser welder for pipeline
FR2735056B1 (fr) * 1995-06-09 1997-08-22 Bouygues Offshore Installation pour travailler une zone d'un tube au moyen d'un faisceau laser et application aux tubes d'une canalisation sur une barge de pose en mer ou de recuperation de cette canalisation.
IT1287906B1 (it) * 1996-05-22 1998-08-26 L C G Srl Unita' di taglio per tubi prodotti in continuo
FR2752180B1 (fr) * 1996-08-08 1999-04-16 Axal Procede et dispositif de soudage a pilotage du faisceau de soudage
US5796069A (en) * 1997-01-10 1998-08-18 Crc-Evans Pipeline International, Inc. Arc and laser welding process for pipeline
EP1140415B1 (fr) * 1999-01-11 2004-06-02 ThyssenKrupp Technologies AG Dispositif pour serrer et souder des toles
FR2812227A1 (fr) * 2000-07-28 2002-02-01 Spie Capag S A Procede et installation de soudage par laser d'un pipeline
NL1018199C2 (nl) * 2001-06-01 2002-12-03 Alka Holland Holding B V Inrichting en werkwijze voor het snijden van werkstukken.
US6737605B1 (en) 2003-01-21 2004-05-18 Gerald L. Kern Single and/or dual surface automatic edge sensing trimmer
US7592567B2 (en) * 2003-09-11 2009-09-22 Wazana Brothers International, Inc. Apparatus and method for disassembling containers having thermoplastic joining surfaces
CN100522453C (zh) * 2003-12-10 2009-08-05 菲茨有限责任公司 用于管道架设的轨道焊接装置
US20070107773A1 (en) 2005-11-17 2007-05-17 Palo Alto Research Center Incorporated Bifacial cell with extruded gridline metallization
CN1992461B (zh) * 2005-12-30 2010-05-05 鸿富锦精密工业（深圳）有限公司 电线绝缘层切割装置
US20080116182A1 (en) * 2006-11-21 2008-05-22 Palo Alto Research Center Incorporated Multiple Station Scan Displacement Invariant Laser Ablation Apparatus
US20080116183A1 (en) * 2006-11-21 2008-05-22 Palo Alto Research Center Incorporated Light Scanning Mechanism For Scan Displacement Invariant Laser Ablation Apparatus
US7928015B2 (en) * 2006-12-12 2011-04-19 Palo Alto Research Center Incorporated Solar cell fabrication using extruded dopant-bearing materials
US7954449B2 (en) * 2007-05-08 2011-06-07 Palo Alto Research Center Incorporated Wiring-free, plumbing-free, cooled, vacuum chuck
US8424617B2 (en) 2008-08-20 2013-04-23 Foro Energy Inc. Methods and apparatus for delivering high power laser energy to a surface
US9664012B2 (en) 2008-08-20 2017-05-30 Foro Energy, Inc. High power laser decomissioning of multistring and damaged wells
US10301912B2 (en) * 2008-08-20 2019-05-28 Foro Energy, Inc. High power laser flow assurance systems, tools and methods
US8571368B2 (en) 2010-07-21 2013-10-29 Foro Energy, Inc. Optical fiber configurations for transmission of laser energy over great distances
US8627901B1 (en) 2009-10-01 2014-01-14 Foro Energy, Inc. Laser bottom hole assembly
US9089928B2 (en) 2008-08-20 2015-07-28 Foro Energy, Inc. Laser systems and methods for the removal of structures
US9242309B2 (en) 2012-03-01 2016-01-26 Foro Energy Inc. Total internal reflection laser tools and methods
US9669492B2 (en) 2008-08-20 2017-06-06 Foro Energy, Inc. High power laser offshore decommissioning tool, system and methods of use
US7999175B2 (en) * 2008-09-09 2011-08-16 Palo Alto Research Center Incorporated Interdigitated back contact silicon solar cells with laser ablated grooves
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DE102009020146B3 (de) * 2009-04-08 2010-06-10 V & M Deutschland Gmbh Verfahren und Vorrichtung zum Verbinden der Enden von Rohren aus Stahl mittels Orbitalschweißen in Hybridtechnik
US8720584B2 (en) * 2011-02-24 2014-05-13 Foro Energy, Inc. Laser assisted system for controlling deep water drilling emergency situations
US8684088B2 (en) * 2011-02-24 2014-04-01 Foro Energy, Inc. Shear laser module and method of retrofitting and use
US8783361B2 (en) * 2011-02-24 2014-07-22 Foro Energy, Inc. Laser assisted blowout preventer and methods of use
US20160186524A1 (en) * 2009-08-19 2016-06-30 Foro Energy, Inc. Subsea in situ laser for laser assisted blow out preventer and methods of use
US8783360B2 (en) * 2011-02-24 2014-07-22 Foro Energy, Inc. Laser assisted riser disconnect and method of use
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US20120151978A1 (en) * 2010-12-17 2012-06-21 Zepp William L Platform Mill for Producing Helically Wound Pipe and Related Method
WO2012116155A1 (fr) 2011-02-24 2012-08-30 Foro Energy, Inc. Moteur électrique pour forage laser-mécanique
US8962424B2 (en) 2011-03-03 2015-02-24 Palo Alto Research Center Incorporated N-type silicon solar cell with contact/protection structures
EP2715887A4 (fr) 2011-06-03 2016-11-23 Foro Energy Inc Connecteurs optiques robustes à fibre laser d'énergie élevée passivement refroidie et procédés d'utilisation
US9399269B2 (en) 2012-08-02 2016-07-26 Foro Energy, Inc. Systems, tools and methods for high power laser surface decommissioning and downhole welding
US8923356B1 (en) 2011-10-04 2014-12-30 Kern Technologies, LLC. Gas laser pre-ionization optical monitoring and compensation
BR112015004458A8 (pt) * 2012-09-01 2019-08-27 Chevron Usa Inc sistema de controle de poço, bop a laser e conjunto de bop
WO2014078663A2 (fr) 2012-11-15 2014-05-22 Foro Energy, Inc. Systèmes d'outils et procédés de fracturation et de stimulation hydrauliques à laser de forte puissance
US9085050B1 (en) 2013-03-15 2015-07-21 Foro Energy, Inc. High power laser fluid jets and beam paths using deuterium oxide
US9263849B2 (en) 2013-12-27 2016-02-16 Gerald L Kern Impedance matching system for slab type lasers
CN104384725B (zh) * 2014-11-26 2017-01-25 韦湘宜 一种大型圆盘零件齿面切割加工设备
CN105108351A (zh) * 2015-08-11 2015-12-02 昆山—邦泰汽车零部件制造有限公司 冲头切割器
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CN105081582A (zh) * 2015-08-20 2015-11-25 昆山—邦泰汽车零部件制造有限公司 冲头旋转切割机
CN106141467A (zh) * 2016-08-30 2016-11-23 上海嘉强自动化技术有限公司 一种多工位三维激光加工***
CN106271051A (zh) * 2016-08-30 2017-01-04 上海嘉强自动化技术有限公司 一种三维柔性低功率激光加工***
CN109773352B (zh) * 2019-03-13 2021-02-26 宁波心生工业设计有限公司 一种基于光机电的服务机器人
CN113770528B (zh) * 2021-11-09 2022-02-08 张家港汇能达激光科技有限公司 一种振镜激光叠焊设备

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Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2143649A (en) * 1983-06-29 1985-02-13 Fairey Eng Optical apparatus for laser welding pipes
DE3503401A1 (de) * 1985-02-01 1986-08-07 Walter 6000 Frankfurt Röder Fuehrungsvorrichtung fuer einen laserstrahl, vorzugsweise zur dreidimensionalen werkstueckbearbeitung
GB2172122A (en) * 1985-03-06 1986-09-10 Ernest Valdur Tomlinson Rotatable reflectors for directing a beam of light
US4843529A (en) * 1986-09-19 1989-06-27 Lehigh University Stage lighting apparatus
FR2704166A1 (fr) * 1993-04-20 1994-10-28 Itp Procédé et dispositif pour effectuer le soudage de tronçons de tube à l'aide de rayons laser.
WO1998053950A1 (fr) * 1997-05-30 1998-12-03 Applications Des Techniques Laser Atol Dispositif transportable et ouvert pour decouper ou souder des tronçons de tubes d'une canalisation sur terre ou en mer en utilisant un generateur laser integrant une tete laser auto-adaptative
FR2763875A1 (fr) * 1997-05-30 1998-12-04 Applic Des Tech De Soudure Las Dispositif transportable et ouvert pour decouper ou souder des troncons de tubes d'une canalisation sur terre ou en mer en utilisant un generateur laser integrant une tete laser autoadaptative
DE19745929C1 (de) * 1997-10-17 1999-07-29 Thyssenkrupp Stahl Ag Schweißeinrichtung für zwei über eine in sich geschlossene Schweißnaht miteinander zu verbindende Werkstücke
GB2345016B (en) * 1998-12-24 2003-04-02 Saipem Spa Method and apparatus for welding pipes together
US6313426B2 (en) 1998-12-24 2001-11-06 Saipem S.P.A. Method and apparatus for welding pipes together
GB2345016A (en) * 1998-12-24 2000-06-28 Saipem Spa Method and apparatus for welding pipes together
US7114881B2 (en) 2000-10-24 2006-10-03 Saipem S.P.A. Method and apparatus for welding pipes together
WO2008014740A1 (fr) * 2006-08-01 2008-02-07 Eroform Edelstahl Gmbh Suspension pour un appareil de soudure laser
ITMO20130333A1 (it) * 2013-12-06 2015-06-07 Oto S P A Macchina per il taglio orbitale di tubi
EP2881215A1 (fr) * 2013-12-06 2015-06-10 Fives Oto S.P.A. Machine de découpe orbitale pour tubes
CN106271072A (zh) * 2016-10-13 2017-01-04 上海嘉强自动化技术有限公司 一种手持式激光焊接装置
CN106271072B (zh) * 2016-10-13 2018-04-24 上海嘉强自动化技术有限公司 一种手持式激光焊接装置
CN111526966A (zh) * 2017-12-29 2020-08-11 可利雷斯股份有限公司 激光处理装置及方法
CN111526966B (zh) * 2017-12-29 2022-08-05 可利雷斯股份有限公司 激光处理装置及方法
US11850679B2 (en) 2017-12-29 2023-12-26 Corelase Oy Laser processing apparatus and method
DE102018000322A1 (de) 2018-01-17 2019-07-18 Detlef Görgens 5 Achs - Fräskopf
CN112975167A (zh) * 2021-01-28 2021-06-18 上海工程技术大学 一种提高陶瓷表面孔形貌质量的激光加工方法

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DE3362994D1 (en) 1986-05-22
US4533814A (en) 1985-08-06
JPS58148089A (ja) 1983-09-03
EP0088501B1 (fr) 1986-04-16

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